Research On The System Design And Motion Control Of Lower Limb Rehabilitation Trainer

Nowadays,the aging of the population is gradually accelerating.Due to traffic accidents and accidental injuries,the number of patients with limb movement disorder is increasing day by day,so the demand for rehabilitation training is also increasing.The application of lower limb rehabilitation training robot is mainly aimed at the population of patients with lower limb sports injury and lower limb muscle weakness.Through passive training,the lower limb of patients is driven to simulate the gait of human body during normal walking,so as to realize the therapeutic effect of exercise rehabilitation in rehabilitation evaluation.In this paper,the structural design,motion analysis,modeling and simulation of the lower limb rehabilitation training robot were studied according to the patients’ lower limb rehabilitation training needs.Firstly,according to the theory of "rehabilitation evaluation",the design principle of lower limb rehabilitation training robot was put forward,and the main structure was designed and a 3d model was built.Secondly,the joint simulation of CATIA and Solidworks was used to design experiments and analyze the ergonomics of the 3d model.Thirdly,the kinematics and dynamics models were established on the basis of the 3d model.Combined with the CGA clinical gait data,the kinematics analysis and dynamics simulation were used to verify the motion model and obtain relevant dynamic parameters.Fourth,put forward the control system framework,take STM32 as the main control chip to design the motor servo driven parallel control system,take the Lab VIEW as the platform to design the upper computer human-machine interaction interface,complete the corresponding hardware production and software programming.Fifth,under the condition of human body standing posture,the starting,support period,swing period,stop four conditions of motion trajectory planning,the use of Matlab to establish a lower limb rehabilitation training robot control model,and simulation response verification.The control strategy of PID and position impedance is determined,and theprototype is manufactured to carry out the joint adjustment test of the mechanism and control system,so as to realize the motion with less error to the planned trajectory.To verify the practical function of the designed lower limb rehabilitation training robot,it can help patients to carry out rehabilitation training.